Chapter 15 CANopen Overview│CP200015-1615-4 CANopen Supporting IndexCP2000 Index:Parameter index corresponds to each other as following:Index sub-Index2000H + Group member+1For example:Pr.10.15 (Encoder Slip Error Treatment)Group member10(0 A H) - 15(0FH)Index = 2000H + 0AH = 200ASub Index = 0FH + 1H = 10HCP2000 Control Index:Delta Standard Mode (Old definition)Index Sub Definition FactorySetting R/W Size Note2020H0 Number 3 R U81 Control word 0 RW U16Bit 0~1 00B: disable01B: stop10B: disable11B: JOG EnableBit2~3 ReservedBit4~5 00B: disable01B: Direction forward10B: Reverse11B: Switch DirectionBit6~7 00B: 1 st step Accel. /Decel.01B: 2 nd step Accel. /Decel.10B: 3 rd step Accel. /Decel.11B: 4 th step Accel. /Decel.Bit8~15 0000B: Master speed0001B: 1 st step speed0010B: 2 nd step speed0011B: 3 rd step speed0100B: 4 th step speed0101B: 5 th step speed0110B: 6 th step speed0111B: 7 th step speed1000B: 8 th step speed1001B: 9 th step speed1010B: 10 th step speed1011B: 11 th step speed1100B: 12 th step speed1101B: 13 th step speed1110B: 14 th step speed1111B: 15 th step speedBit12 1: Enable the function ofBit6-11Bit13~14 00B: no function01B: Operation command bythe digital keypad
